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我在微步进模式下用L6470H进行了一些测试,看起来这个设备无法进行微步定位。
在我的测试中,当检测到外部信号时,微控制器将向电机控制器发送硬停止命令。控制器工作在32微步模式,保持电流与运行电流值相同。电机控制器正在执行运行命令并等待hardstop命令。我监视电机电流以及范围内的外部信号(参见附件截图)。在控制器接收到硬停止后,可以在范围内看到电机电流在硬停止之后发生变化并且电机持续转动大约10ms。 #L6470 以上来自于谷歌翻译 以下为原文 I mad some tests with L6470H in microstepping mode and it seems that microstep positioning is not possible with this device. In my test a microcontroller will send a hard stop command to the motorcontroller when an external signal is detected. The controller works in 32 microstep mode, the holding current has the same value as the run current. The motorcontroller is performing a run command and wait for the hardstop command. I monitor the motor current as well as the external signal on th scope (see attached screenshots). After hardstop was received by the controller it can be seen on the scope that the motor currents are changing AFTER the hardstop and the motor keep on turning for about 10ms. #l6470 |
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3个回答
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嗨,
首先,L6470采用电压模式驱动,因此对输出电流的考虑可能会产生误导。 关于你的测试: - 波形中的黄色信号是什么? - 硬停止总是至关重要的:全惯性试图保持电机运转,这会导致振铃。在电流模式中,从电气的角度来看,驱动振铃是“不可见的”,在电压模式下驱动它会导致BEMF扰动调制输出电流。 - 必须始终考虑相位电流来考虑位置。实际上,位置是电流比的反正切。 问候 恩里科 以上来自于谷歌翻译 以下为原文 Hi, First of all the L6470 operates in voltage mode driving, so the considerations on the output current could be misleading. About your tests: - What is the yellow signal in your waveforms? - The hard stop is always critical: the totor inertia tries to keep the motor in motion and this causes a ringing. In current mode driving the ringing is ''invisible'' from the electrical point of view, in voltage mode driving it causes a BEMF perturbation modulating the output current. - Considerations about the position must always be done measuring both the phase currents. In fact the position is the arctangent of the currents ratio. Regards Enrico |
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嗨恩里科,
感谢您的回答。黄色示波器信号是来自光栅的模拟信号。硬停止的触发器大约在斜坡的中间。 从你的角度来看。是否有可能在触发点停止电机并获得更高的准确度? L6470是否具有所谓的断开功能,可以缩短触发位置的电机绕组? 问候 沃尔特 以上来自于谷歌翻译 以下为原文 Hi Enrico, thanks for your answer. The yellow scope signal is the analog signal from a light barrier. The trigger for the hardstop is approximately in the middle of the slope. From your point of view. Are there possibilities to stop the motor at trigger point with a higher accurracy? Has the L6470 a so called break-function to shorten the motor windings at the trigger position? Regards Walter |
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嗨沃尔特,
L6470提供SW输入,当输入强制为低电平时(限位开关),可用于内部生成硬停止命令。 也许它可以满足您的需求(参见第30页的数据表)。 亲切的问候 恩里科 以上来自于谷歌翻译 以下为原文 Hi Walter, the L6470 provides a SW input which can be used to internally generate an hardstop command when the input is forced low (limit switch). Maybe it can fit your needs (see datasheet at page 30). Kind Regards Enrico |
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